CmdRob L90I Motor

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Application Scenarios Humanoid Robots Robotic Arms Exoskeletons Quadruped Robots AGV Vehicles ARU Robots Technical Specifications Model L90I L90I L90I L90I Reduction Ratio 51 81 10 1 121 Input Voltage 48 (±10%)V 48 (±10%)V 48 (±10%)V 48 (±10%)V Maximum Torque 127N.m 165N.m 191N.m 191N.m 12.96kgf.m 16.84kgf.m 19.49kgf.m 19.49kgf.m Average Load Torque 44N.m 61N.m 64N.m 64N.m 4.49kgf.m 6.22kgf.m 6.53kgf.m 6.53kgf.m Start-Stop Peak Torque 73N.m 96N.m 107N.m 113N.m 7.45kgf.m 9.80kgf.m 10.92kgf.m 11.53kgf.m Maximum Speed 78.4r/min 49.4r/min 39.6r/min 33.1r/min Rated Speed 58.8r/min 37.0r/min 29.7r/min 24.8r/min Motor Torque Constant 0.10N·m/A 0.11N·m/A 0.11N·m/A 0.11N·m/A 0.0112kgf·m/A 0.0112kgf·m/A 0.0112kgf·m/A 0.0112kgf·m/A Maximum Current 19.59A 15.15A 13.54A 11.94A Allowable Continuous Current 11.81A 9.63A 8.10A 6.76A Back EMF Constant 6.78V/krpm 6.78V/krpm 6.78V/krpm 6.78V/krpm Phase Resistance (20°C) 0.11Ω 0.11Ω 0.11Ω 0.11Ω Phase Inductance 0.24mH 0.24mH 0.24mH 0.24mH Moment of Inertia 106.3(kg·mm²) 106.3(kg·mm²) 106.3(kg·mm²) 106.3(kg·mm²) 106.3*10^-4(kgf·cm·s²) 106.3*10^-4(kgf·cm·s²) 106.3*10^-4(kgf·cm·s²) 106.3*10^-4(kgf·cm·s²) Repeatable Positioning Accuracy(1) 20arc-sec 20arc-sec 20arc-sec 20arc-sec Positioning Accuracy(2) 60arc-sec 60arc-sec 60arc-sec 60arc-sec Bus Communication Protocol Canopen / EtherCAT Canopen / EtherCAT Canopen / EtherCAT Canopen / EtherCAT Encoder Resolution(Single-turn) 17-bit (131,072 pulses/rev) 17-bit (131,072 pulses/rev) 17-bit (131,072 pulses/rev) 17-bit (131,072 pulses/rev) Encoder Resolution(Multi-turn) 16-bit (-32,768 to +32,767 revs) 16-bit (-32,768 to +32,767 revs) 16-bit (-32,768 to +32,767 revs) 16-bit (-32,768 to +32,767 revs) Output Shaft Resolution 6,684,672pulses/rev 10,616,832pulses/rev 13,238,272pulses/rev 15,859,712pulses/rev Mass 2kg 2kg 2kg 2kg Ambient Environmental Conditions Operating Temperature: 0 to 40 °C / Storage Temperature: -20 to 60 °C Operating/Storage Humidity: 20 to 80%RH (non-condensing) Vibration Resistance: 25 m/s² (Frequency: 10 to 400 Hz) Shock Resistance: 300 m/s² Environment: Free from dust, metal powder, corrosive gases, flammable gases, oil mist, etc. Usage: Indoor use, avoid direct sunlight Altitude: Below 1000 m Operating Temperature: 0 to 40 °C / Storage Temperature: -20 to 60 °C Operating/Storage Humidity: 20 to 80%RH (non-condensing) Vibration Resistance: 25 m/s² (Frequency: 10 to 400 Hz) Shock Resistance: 300 m/s² Environment: Free from dust, metal powder, corrosive gases, flammable gases, oil mist, etc. Usage: Indoor use, avoid direct sunlight Altitude: Below 1000 m Operating Temperature: 0 to 40 °C / Storage Temperature: -20 to 60 °C Operating/Storage Humidity: 20 to 80%RH (non-condensing) Vibration Resistance: 25 m/s² (Frequency: 10 to 400 Hz) Shock Resistance: 300 m/s² Environment: Free from dust, metal powder, corrosive gases, flammable gases, oil mist, etc. Usage: Indoor use, avoid direct sunlight Altitude: Below 1000 m Operating Temperature: 0 to 40 °C / Storage Temperature: -20 to 60 °C Operating/Storage Humidity: 20 to 80%RH (non-condensing) Vibration Resistance: 25 m/s² (Frequency: 10 to 400 Hz) Shock Resistance: 300 m/s² Environment: Free from dust, metal powder, corrosive gases, flammable gases, oil mist, etc. Usage: Indoor use, avoid direct sunlight Altitude: Below 1000 m Design Life（H） 10000 10000 10000 10000 Motor Insulation Insulation Resistance: 500 MΩ or greaterDielectric Strength: AC 1500 V / 1 minInsulation Class: Class F (155°C) Insulation Resistance: 500 MΩ or greaterDielectric Strength: AC 1500 V / 1 minInsulation Class: Class F (155°C) Insulation Resistance: 500 MΩ or greaterDielectric Strength: AC 1500 V / 1 minInsulation Class: Class F (155°C) Insulation Resistance: 500 MΩ or greaterDielectric Strength: AC 1500 V / 1 minInsulation Class: Class F (155°C) Mounting Orientation Omnidirectional Mounting Omnidirectional Mounting Omnidirectional Mounting Omnidirectional Mounting Protection Rating Totally Enclosed, Non-Ventilated (IP54) Totally Enclosed, Non-Ventilated (IP54) Totally Enclosed, Non-Ventilated (IP54) Totally Enclosed, Non-Ventilated (IP54) CmdRob-L90I-C-XXX-BF-C00-2D-Drawing.pdfCmdRob-L90I-E-XXX-BF-C00-2D-Drawing.pdfCmdRob-L90I-C-XXX-BF-C00.stpCmdRob-L90I-E-XXX-BF-C00.stp @media (max-width: 768px) { div[style*="grid-template-columns: repeat(auto-fit, minmax(160px, 1fr))"] { grid-template-columns: repeat(2, 1fr) !important; 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